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<p>
Project: <a href="http://ros.org/wiki/par_ui">par_ui</a>
</p>
<p>
License: BSD
</p>
<p>
Dependencies: 
<ul>
  <li>std_msgs</li>
  <li>roscpp</li>
  <li>par_kinematics</li>
  <li>par_trajectory_planning</li>
  <li>tinyxml</li>
</ul>
</p>
<p>
Used by:
None<br />
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<a href="../../index.html">All Packages</a>
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  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pri-methods">Private Member Functions</a> &#124;
<a href="#pri-attribs">Private Attributes</a>  </div>
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<h1>Config Class Reference</h1>  </div>
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<!-- doxytag: class="Config" -->
<p><code>#include &lt;<a class="el" href="par__config_8h_source.html">par_config.h</a>&gt;</code></p>

<p><a href="classConfig-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classConfig.html#a04b1ec1aebdcc4bc41865589cc4d9a6b">Config</a> (ros::ServiceClient &amp;<a class="el" href="classConfig.html#a4ce06e0d6eed2f4f78ef37e02657be44">coord_client</a>, par_kinematics::coord &amp;<a class="el" href="classConfig.html#a6016978f0cdcea94b3cdc262d0b19be9">coords</a>, par_trajectory_planning::commands &amp;<a class="el" href="classConfig.html#a80565c8992f0daefecdfaf68f4b54ed8">cmd</a>, ros::Publisher &amp;<a class="el" href="classConfig.html#abae604229130930920b20f7d3d3275f3">chatter_pub_cmd</a>)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Constructor.  <a href="#a04b1ec1aebdcc4bc41865589cc4d9a6b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classConfig.html#a4e9f99ceaf254f82b14e845de037fc5f">read</a> (const std::string &amp;file)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Function for reading XML configuration file.  <a href="#a4e9f99ceaf254f82b14e845de037fc5f"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-methods"></a>
Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classConfig.html#ad4f99d7b741d557b0c33922c35d4ac7e">parse_xml_init</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Function for parsing motor parameters.  <a href="#ad4f99d7b741d557b0c33922c35d4ac7e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classConfig.html#af71847173b3109bb53131480cb4f87a1">parse_xml_ptp</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Function for parsing PTP parameters.  <a href="#af71847173b3109bb53131480cb4f87a1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classConfig.html#a28074debfd22ac091b23b0b409cc7b64">parse_xml_ptp_row</a> (TiXmlNode *node, double &amp;X, double &amp;Y, double &amp;Z, uint16_t &amp;operating_mode)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Function for parsing a PTP motion row.  <a href="#a28074debfd22ac091b23b0b409cc7b64"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">ros::Publisher&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classConfig.html#abae604229130930920b20f7d3d3275f3">chatter_pub_cmd</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">par_trajectory_planning::commands&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classConfig.html#a80565c8992f0daefecdfaf68f4b54ed8">cmd</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">TiXmlElement *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classConfig.html#acfcf2db554ec86f6e8b11e63181419e8">config</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">ros::ServiceClient&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classConfig.html#a4ce06e0d6eed2f4f78ef37e02657be44">coord_client</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">par_kinematics::coord&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classConfig.html#a6016978f0cdcea94b3cdc262d0b19be9">coords</a></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>

<p>Definition at line <a class="el" href="par__config_8h_source.html#l00014">14</a> of file <a class="el" href="par__config_8h_source.html">par_config.h</a>.</p>
<hr/><h2>Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a04b1ec1aebdcc4bc41865589cc4d9a6b"></a><!-- doxytag: member="Config::Config" ref="a04b1ec1aebdcc4bc41865589cc4d9a6b" args="(ros::ServiceClient &amp;coord_client, par_kinematics::coord &amp;coords, par_trajectory_planning::commands &amp;cmd, ros::Publisher &amp;chatter_pub_cmd)" -->
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          <td class="memname">Config::Config </td>
          <td>(</td>
          <td class="paramtype">ros::ServiceClient &amp;&nbsp;</td>
          <td class="paramname"> <em>coord_client</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">par_kinematics::coord &amp;&nbsp;</td>
          <td class="paramname"> <em>coords</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">par_trajectory_planning::commands &amp;&nbsp;</td>
          <td class="paramname"> <em>cmd</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">ros::Publisher &amp;&nbsp;</td>
          <td class="paramname"> <em>chatter_pub_cmd</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td></td>
        </tr>
      </table>
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<p>Constructor. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>file</em>&nbsp;</td><td>Path to file. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>coord_client</em>&nbsp;</td><td>Client to request coordinates from kinematics model. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>coords</em>&nbsp;</td><td>Object with XYZ parameters configured. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>cmd</em>&nbsp;</td><td>Object used for configuring trajectory parameters. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>chatter_pub_cmd</em>&nbsp;</td><td>Object used for communication</td></tr>
  </table>
  </dd>
</dl>
<p>Author: W. van Teijlingen &lt;<a href="mailto:wouter.vanteijlingen@student.hu.nl">wouter.vanteijlingen@student.hu.nl</a>&gt; </p>

<p>Definition at line <a class="el" href="par__config_8cpp_source.html#l00014">14</a> of file <a class="el" href="par__config_8cpp_source.html">par_config.cpp</a>.</p>

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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ad4f99d7b741d557b0c33922c35d4ac7e"></a><!-- doxytag: member="Config::parse_xml_init" ref="ad4f99d7b741d557b0c33922c35d4ac7e" args="()" -->
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          <td class="memname">void Config::parse_xml_init </td>
          <td>(</td>
          <td class="paramname"></td>
          <td>&nbsp;)&nbsp;</td>
          <td><code> [private]</code></td>
        </tr>
      </table>
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<div class="memdoc">

<p>Function for parsing motor parameters. </p>

<p><p>Implement this function for parsing motor parameters.</p>
</p>

<p>Definition at line <a class="el" href="par__config_8cpp_source.html#l00023">23</a> of file <a class="el" href="par__config_8cpp_source.html">par_config.cpp</a>.</p>

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<a class="anchor" id="af71847173b3109bb53131480cb4f87a1"></a><!-- doxytag: member="Config::parse_xml_ptp" ref="af71847173b3109bb53131480cb4f87a1" args="()" -->
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          <td class="memname">void Config::parse_xml_ptp </td>
          <td>(</td>
          <td class="paramname"></td>
          <td>&nbsp;)&nbsp;</td>
          <td><code> [private]</code></td>
        </tr>
      </table>
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<div class="memdoc">

<p>Function for parsing PTP parameters. </p>

<p>Definition at line <a class="el" href="par__config_8cpp_source.html#l00030">30</a> of file <a class="el" href="par__config_8cpp_source.html">par_config.cpp</a>.</p>

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<a class="anchor" id="a28074debfd22ac091b23b0b409cc7b64"></a><!-- doxytag: member="Config::parse_xml_ptp_row" ref="a28074debfd22ac091b23b0b409cc7b64" args="(TiXmlNode *node, double &amp;X, double &amp;Y, double &amp;Z, uint16_t &amp;operating_mode)" -->
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          <td class="memname">void Config::parse_xml_ptp_row </td>
          <td>(</td>
          <td class="paramtype">TiXmlNode *&nbsp;</td>
          <td class="paramname"> <em>node</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&nbsp;</td>
          <td class="paramname"> <em>X</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&nbsp;</td>
          <td class="paramname"> <em>Y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&nbsp;</td>
          <td class="paramname"> <em>Z</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint16_t &amp;&nbsp;</td>
          <td class="paramname"> <em>operating_mode</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td><code> [private]</code></td>
        </tr>
      </table>
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<div class="memdoc">

<p>Function for parsing a PTP motion row. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>node</em>&nbsp;</td><td>XML node to parse. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>X</em>&nbsp;</td><td>X coordinate. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>Y</em>&nbsp;</td><td>Y coordinate. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>Z</em>&nbsp;</td><td>Z coordinate. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>operating_mode</em>&nbsp;</td><td>The user defined operating mode. </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="par__config_8cpp_source.html#l00078">78</a> of file <a class="el" href="par__config_8cpp_source.html">par_config.cpp</a>.</p>

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<a class="anchor" id="a4e9f99ceaf254f82b14e845de037fc5f"></a><!-- doxytag: member="Config::read" ref="a4e9f99ceaf254f82b14e845de037fc5f" args="(const std::string &amp;file)" -->
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          <td class="memname">void Config::read </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&nbsp;</td>
          <td class="paramname"> <em>file</em></td>
          <td>&nbsp;)&nbsp;</td>
          <td></td>
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<p>Function for reading XML configuration file. </p>

<p>Definition at line <a class="el" href="par__config_8cpp_source.html#l00111">111</a> of file <a class="el" href="par__config_8cpp_source.html">par_config.cpp</a>.</p>

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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="abae604229130930920b20f7d3d3275f3"></a><!-- doxytag: member="Config::chatter_pub_cmd" ref="abae604229130930920b20f7d3d3275f3" args="" -->
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          <td class="memname">ros::Publisher <a class="el" href="classConfig.html#abae604229130930920b20f7d3d3275f3">Config::chatter_pub_cmd</a><code> [private]</code></td>
        </tr>
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<div class="memdoc">

<p>Definition at line <a class="el" href="par__config_8h_source.html#l00054">54</a> of file <a class="el" href="par__config_8h_source.html">par_config.h</a>.</p>

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<a class="anchor" id="a80565c8992f0daefecdfaf68f4b54ed8"></a><!-- doxytag: member="Config::cmd" ref="a80565c8992f0daefecdfaf68f4b54ed8" args="" -->
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          <td class="memname">par_trajectory_planning::commands <a class="el" href="classConfig.html#a80565c8992f0daefecdfaf68f4b54ed8">Config::cmd</a><code> [private]</code></td>
        </tr>
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<p>Definition at line <a class="el" href="par__config_8h_source.html#l00053">53</a> of file <a class="el" href="par__config_8h_source.html">par_config.h</a>.</p>

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<a class="anchor" id="acfcf2db554ec86f6e8b11e63181419e8"></a><!-- doxytag: member="Config::config" ref="acfcf2db554ec86f6e8b11e63181419e8" args="" -->
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          <td class="memname">TiXmlElement* <a class="el" href="classConfig.html#acfcf2db554ec86f6e8b11e63181419e8">Config::config</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="par__config_8h_source.html#l00050">50</a> of file <a class="el" href="par__config_8h_source.html">par_config.h</a>.</p>

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<a class="anchor" id="a4ce06e0d6eed2f4f78ef37e02657be44"></a><!-- doxytag: member="Config::coord_client" ref="a4ce06e0d6eed2f4f78ef37e02657be44" args="" -->
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          <td class="memname">ros::ServiceClient <a class="el" href="classConfig.html#a4ce06e0d6eed2f4f78ef37e02657be44">Config::coord_client</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="par__config_8h_source.html#l00051">51</a> of file <a class="el" href="par__config_8h_source.html">par_config.h</a>.</p>

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<a class="anchor" id="a6016978f0cdcea94b3cdc262d0b19be9"></a><!-- doxytag: member="Config::coords" ref="a6016978f0cdcea94b3cdc262d0b19be9" args="" -->
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          <td class="memname">par_kinematics::coord <a class="el" href="classConfig.html#a6016978f0cdcea94b3cdc262d0b19be9">Config::coords</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="par__config_8h_source.html#l00052">52</a> of file <a class="el" href="par__config_8h_source.html">par_config.h</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/home/wouter/ros_packages/thp-pj2-08/par_ui/include/par_ui/<a class="el" href="par__config_8h_source.html">par_config.h</a></li>
<li>/home/wouter/ros_packages/thp-pj2-08/par_ui/src/<a class="el" href="par__config_8cpp_source.html">par_config.cpp</a></li>
</ul>
</div>
</td></tr></table>

<hr size="1"><div style="align: right;">
<a href="http://ros.org/wiki/par_ui">par_ui</a><br />
Author(s): Wouter van Teijlingen</br />
<small>autogenerated on Mon Jun 13 2011 17:06:40</small>
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